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<a href="trajectory__tbl_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#ifndef ICAROUS_CFS_TRAJECTORY_TBL_H</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#define ICAROUS_CFS_TRAJECTORY_TBL_H</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &lt;stdbool.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="trajectory__msg_8h.html">trajectory_msg.h</a>&quot;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html">   22</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;{</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a80df6c069326e4b3f8ccbbe5114675c1">   24</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#a80df6c069326e4b3f8ccbbe5114675c1">obsbuffer</a>;                    </div><div class="line"><a name="l00025"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a33f2cd44878a57ea7a70414be2bbddf7">   25</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#a33f2cd44878a57ea7a70414be2bbddf7">maxCeiling</a>;                   </div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="comment">// Astar parameters</span></div><div class="line"><a name="l00028"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#ab52ea03b6865922b672115d4f9b68831">   28</a></span>&#160;    <span class="keywordtype">bool</span>   <a class="code" href="structTrajectoryTable__t.html#ab52ea03b6865922b672115d4f9b68831">astar_enable3D</a>;               </div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a8627ada93ade47d5443b0752fae812d9">   29</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#a8627ada93ade47d5443b0752fae812d9">astar_gridSize</a>;               </div><div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#aeb2f0864e864683bf6df911672451e3a">   30</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#aeb2f0864e864683bf6df911672451e3a">astar_resSpeed</a>;               </div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a24e6f80858aa56dee027af685caf8047">   31</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#a24e6f80858aa56dee027af685caf8047">astar_lookahead</a>;              </div><div class="line"><a name="l00032"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#aa24b8284f156599acfa3a2276d8e280d">   32</a></span>&#160;    <span class="keywordtype">char</span> astar_daaConfigFile[50];        </div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="comment">// RRT parameters</span></div><div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#adce66e8161a59166521a456f706306c0">   35</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#adce66e8161a59166521a456f706306c0">rrt_resSpeed</a>;                 </div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a8e3eb825d5f1b7a03472ac05ed580c59">   36</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrajectoryTable__t.html#a8e3eb825d5f1b7a03472ac05ed580c59">rrt_numIterations</a>;               </div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#ae1fe3636fb4b354f872a9e1485943628">   37</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#ae1fe3636fb4b354f872a9e1485943628">rrt_dt</a>;                       </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a9c5586a8c10ab746b420e9f053cedca1">   38</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structTrajectoryTable__t.html#a9c5586a8c10ab746b420e9f053cedca1">rrt_macroSteps</a>;                  </div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#af0f0296e3093f5b64ed1e5263cb797cf">   39</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#af0f0296e3093f5b64ed1e5263cb797cf">rrt_capR</a>;                     </div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a530e2758828a9a604505f39b4726b9a3">   40</a></span>&#160;    <span class="keywordtype">char</span> rrt_daaConfigFile[50];          </div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">// Flight plan monitoring parameters</span></div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#aab56539249daf3f3abfd15c339139d23">   43</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#aab56539249daf3f3abfd15c339139d23">xtrkDev</a>;                      </div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a068af45ffbdc60272760d4a85f32f22b">   44</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#a068af45ffbdc60272760d4a85f32f22b">xtrkGain</a>;                     </div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#a8ce200031d8975c9ec98152b5afe3bb8">   45</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structTrajectoryTable__t.html#a8ce200031d8975c9ec98152b5afe3bb8">resSpeed</a>;                     </div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">// Preferred search algorithm to use</span></div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structTrajectoryTable__t.html#ad554662142dec6b997a3952a7329e77d">   48</a></span>&#160;    <a class="code" href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a> <a class="code" href="structTrajectoryTable__t.html#ad554662142dec6b997a3952a7329e77d">searchAlgorithm</a>;         </div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;}<a class="code" href="structTrajectoryTable__t.html">TrajectoryTable_t</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#endif //ICAROUS_CFS_TRAJECTORY_TBL_H</span></div><div class="ttc" id="structTrajectoryTable__t_html_aab56539249daf3f3abfd15c339139d23"><div class="ttname"><a href="structTrajectoryTable__t.html#aab56539249daf3f3abfd15c339139d23">TrajectoryTable_t::xtrkDev</a></div><div class="ttdeci">double xtrkDev</div><div class="ttdoc">Allowed cross track deviation. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:43</div></div>
<div class="ttc" id="group__TRAJECTORY__MESSAGES_html_ga91a137242da7f276e5a2bfb0e4685e47"><div class="ttname"><a href="group__TRAJECTORY__MESSAGES.html#ga91a137242da7f276e5a2bfb0e4685e47">algorithm_e</a></div><div class="ttdeci">algorithm_e</div><div class="ttdoc">search algorithm type </div><div class="ttdef"><b>Definition:</b> trajectory_msg.h:22</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a24e6f80858aa56dee027af685caf8047"><div class="ttname"><a href="structTrajectoryTable__t.html#a24e6f80858aa56dee027af685caf8047">TrajectoryTable_t::astar_lookahead</a></div><div class="ttdeci">double astar_lookahead</div><div class="ttdoc">Lookahead time in seconds (s) </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:31</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_adce66e8161a59166521a456f706306c0"><div class="ttname"><a href="structTrajectoryTable__t.html#adce66e8161a59166521a456f706306c0">TrajectoryTable_t::rrt_resSpeed</a></div><div class="ttdeci">double rrt_resSpeed</div><div class="ttdoc">Ownship speed used for RRT search. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:35</div></div>
<div class="ttc" id="structTrajectoryTable__t_html"><div class="ttname"><a href="structTrajectoryTable__t.html">TrajectoryTable_t</a></div><div class="ttdoc">Trajectory table defintion. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:22</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a068af45ffbdc60272760d4a85f32f22b"><div class="ttname"><a href="structTrajectoryTable__t.html#a068af45ffbdc60272760d4a85f32f22b">TrajectoryTable_t::xtrkGain</a></div><div class="ttdeci">double xtrkGain</div><div class="ttdoc">Proportial gain used for cross track deviation maneuver computaion. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:44</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a8ce200031d8975c9ec98152b5afe3bb8"><div class="ttname"><a href="structTrajectoryTable__t.html#a8ce200031d8975c9ec98152b5afe3bb8">TrajectoryTable_t::resSpeed</a></div><div class="ttdeci">double resSpeed</div><div class="ttdoc">Resolution speed when returning to flight plan. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:45</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a80df6c069326e4b3f8ccbbe5114675c1"><div class="ttname"><a href="structTrajectoryTable__t.html#a80df6c069326e4b3f8ccbbe5114675c1">TrajectoryTable_t::obsbuffer</a></div><div class="ttdeci">double obsbuffer</div><div class="ttdoc">buffer [m] added to obstacle (obstacle sides are expanded by this much) </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:24</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a8e3eb825d5f1b7a03472ac05ed580c59"><div class="ttname"><a href="structTrajectoryTable__t.html#a8e3eb825d5f1b7a03472ac05ed580c59">TrajectoryTable_t::rrt_numIterations</a></div><div class="ttdeci">int rrt_numIterations</div><div class="ttdoc">Total number of RRT iterations. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:36</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a9c5586a8c10ab746b420e9f053cedca1"><div class="ttname"><a href="structTrajectoryTable__t.html#a9c5586a8c10ab746b420e9f053cedca1">TrajectoryTable_t::rrt_macroSteps</a></div><div class="ttdeci">int rrt_macroSteps</div><div class="ttdoc">Total number of Runga Kutta integration steps in one RRT iteration. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:38</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_ae1fe3636fb4b354f872a9e1485943628"><div class="ttname"><a href="structTrajectoryTable__t.html#ae1fe3636fb4b354f872a9e1485943628">TrajectoryTable_t::rrt_dt</a></div><div class="ttdeci">double rrt_dt</div><div class="ttdoc">Time step values in (s) used in one Range Kutta integration. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:37</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a8627ada93ade47d5443b0752fae812d9"><div class="ttname"><a href="structTrajectoryTable__t.html#a8627ada93ade47d5443b0752fae812d9">TrajectoryTable_t::astar_gridSize</a></div><div class="ttdeci">double astar_gridSize</div><div class="ttdoc">A star grid size for grid search (m) </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:29</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_a33f2cd44878a57ea7a70414be2bbddf7"><div class="ttname"><a href="structTrajectoryTable__t.html#a33f2cd44878a57ea7a70414be2bbddf7">TrajectoryTable_t::maxCeiling</a></div><div class="ttdeci">double maxCeiling</div><div class="ttdoc">Max ceiling for flight [m]. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:25</div></div>
<div class="ttc" id="trajectory__msg_8h_html"><div class="ttname"><a href="trajectory__msg_8h.html">trajectory_msg.h</a></div><div class="ttdoc">definition of messages generated by the trajectory messages </div></div>
<div class="ttc" id="structTrajectoryTable__t_html_ad554662142dec6b997a3952a7329e77d"><div class="ttname"><a href="structTrajectoryTable__t.html#ad554662142dec6b997a3952a7329e77d">TrajectoryTable_t::searchAlgorithm</a></div><div class="ttdeci">algorithm_e searchAlgorithm</div><div class="ttdoc">Algorithm used for computing a new path. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:48</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_af0f0296e3093f5b64ed1e5263cb797cf"><div class="ttname"><a href="structTrajectoryTable__t.html#af0f0296e3093f5b64ed1e5263cb797cf">TrajectoryTable_t::rrt_capR</a></div><div class="ttdeci">double rrt_capR</div><div class="ttdoc">Capture circle radius (s) for final goal. </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:39</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_aeb2f0864e864683bf6df911672451e3a"><div class="ttname"><a href="structTrajectoryTable__t.html#aeb2f0864e864683bf6df911672451e3a">TrajectoryTable_t::astar_resSpeed</a></div><div class="ttdeci">double astar_resSpeed</div><div class="ttdoc">Ownship speed used for A star search (m/s) </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:30</div></div>
<div class="ttc" id="structTrajectoryTable__t_html_ab52ea03b6865922b672115d4f9b68831"><div class="ttname"><a href="structTrajectoryTable__t.html#ab52ea03b6865922b672115d4f9b68831">TrajectoryTable_t::astar_enable3D</a></div><div class="ttdeci">bool astar_enable3D</div><div class="ttdoc">Enable 3D search for A star algorithm (not used in grid search) </div><div class="ttdef"><b>Definition:</b> trajectory_tbl.h:28</div></div>
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